CN113298875B - Laser positioning data verification method and device, electronic equipment and storage medium - Google Patents
Laser positioning data verification method and device, electronic equipment and storage medium Download PDFInfo
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- CN113298875B CN113298875B CN202110853609.3A CN202110853609A CN113298875B CN 113298875 B CN113298875 B CN 113298875B CN 202110853609 A CN202110853609 A CN 202110853609A CN 113298875 B CN113298875 B CN 113298875B
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Abstract
The invention discloses a method and a device for checking laser positioning data, electronic equipment and a storage medium, which relate to the field of data identification and comprise the following steps: extracting a plurality of first line segments from the laser reference positioning data; acquiring laser positioning data and extracting a plurality of second line segments from the laser positioning data, wherein the second line segments form a second line segment set; pairing the plurality of first line segments and the plurality of second line segments, and determining the successfully paired second line segments as third line segments; calculating a first distribution direction vector and a second distribution direction vector; calculating the projection length sum of all third line segments in the direction of the first distribution direction vector and the second distribution direction vector to obtain a first observation degree and a second observation degree; performing reliability verification on the laser positioning data based on the first observation degree and the second observation degree; and whether the laser positioning data is reliable or not can be accurately verified after the environmental change occurs.
Description
Technical Field
The present invention relates to the field of data identification, and in particular, to a method and an apparatus for verifying laser positioning data, an electronic device, and a storage medium.
Background
At present, in the method for checking whether the laser positioning data is reliable, generally, the observation point data extracted from the laser positioning data and the reference point data extracted from the laser reference positioning data need to be paired, or the observation point data extracted from the laser positioning data and the reference line segment feature extracted from the laser reference positioning data need to be paired, and then whether the positioning data is reliable is checked according to the successful pairing ratio, the two methods do not consider the observation line segment characteristics corresponding to the laser positioning data and only verify whether the laser positioning data is reliable according to the matching success ratio, therefore, under the condition of environmental change, for example, more objects such as boxes and the like are placed in the environment, the situation that whether the laser positioning data is reliably checked to be wrong or not is easy to occur, therefore, there is a need in the art for a method that can accurately verify whether the laser positioning data is reliable even in the presence of environmental changes.
Disclosure of Invention
The invention provides a method and a device for verifying laser positioning data, electronic equipment and a storage medium, which are used for at least solving the technical problems in the prior art.
The invention provides a method for verifying laser positioning data, which comprises the following steps:
extracting a plurality of first line segments from preset laser reference positioning data;
acquiring laser positioning data and extracting a plurality of second line segments from the laser positioning data, wherein the second line segments form a second line segment set;
pairing the plurality of first line segments and the plurality of second line segments, and determining the successfully paired second line segments as third line segments;
calculating a first distribution direction vector and a second distribution direction vector of the second line segment set;
respectively projecting all the third line segments in the directions of the first distribution direction vector and the second distribution direction vector, and respectively calculating the line segment projection length sum in the directions of the first distribution direction vector and the second distribution direction vector to obtain a first observation degree and a second observation degree;
and performing reliability verification on the laser positioning data based on the first observation degree and the second observation degree.
Wherein, after extracting a plurality of first line sections from preset laser reference positioning data, still include:
marking a plurality of discrete points on the line segment corresponding to each first line segment to obtain a plurality of discrete point coordinates, wherein the distance between the first discrete point and the first end point of the line segment is a first preset distance, the distance between the Nth discrete point and the (N-1) th discrete point is a first preset distance, and the distance between the last discrete point and the second end point of the line segment is less than the first preset distance.
Wherein the pairing the first plurality of line segments and the second plurality of line segments comprises:
calculating midpoint coordinates of the plurality of second line segments;
finding out all discrete point coordinates within a second preset distance from the midpoint coordinate according to the midpoint coordinate corresponding to each second line segment, removing duplication of the first line segments corresponding to all the found discrete point coordinates, and sorting the first line segments from near to far according to the distance between the corresponding discrete point coordinates and the midpoint coordinate to form a candidate line segment set;
and sequentially pairing each second line segment with a plurality of first line segments in the candidate line segment feature set corresponding to the second line segment, calculating the absolute value of the included angle between the second line segment and the paired first line segment and the difference value between the length of the second line segment and the paired first line segment to obtain a first angle and a first distance, and if the first angle is smaller than a first preset angle and the first distance is larger than a third preset distance, successfully pairing.
Wherein after determining the successfully paired second segment as the third segment, the method further comprises:
taking the ratio of the sum of the lengths of all the third line segments to the sum of the lengths of all the second line segments as a first proportion;
the ratio of the number of the third line segments to the number of the second line segments is taken as a second proportion.
Wherein the calculating a first distribution direction vector and a second distribution direction vector of the second segment feature set comprises:
calculating the included angle between the third line segment with the largest length in all the third line segments and the transverse axis of the preset coordinate system to obtain a second angle;
constructing 180-
A window, said
Is a second predetermined angle, the starting angle of the k-th window is
End angle of
Said 180-
And k is a positive integer, x and y are real numbers and x minus y equals 1;
matching all the third line segments except the third line segment with the maximum length into corresponding windows;
calculating the total length of all the corresponding third line segments in each window and screening out the window with the maximum total length, wherein the window is the third one
A window;
according to the second angle, the second preset angle and
and calculating a first distribution direction vector and a second distribution direction vector, wherein the first distribution direction vector and the second distribution direction vector are perpendicular to each other.
Wherein the matching all the third line segments except the third line segment with the maximum length into the corresponding window comprises:
calculating included angles between all the third line segments except the third line segment with the maximum length and the third line segment with the maximum length to obtain a plurality of third angles;
matching all the third line segments except the third line segment with the maximum length into the corresponding windows according to a plurality of third angles.
Another aspect of the present invention provides a calibration apparatus for laser positioning data, including:
the processing module is used for extracting a plurality of first line segments from preset laser reference positioning data;
the acquisition module is used for acquiring laser positioning data and extracting a plurality of second line segments from the laser positioning data, and the second line segments form a second line segment set;
the matching module is used for matching the plurality of first line segments and the plurality of second line segments and determining the successfully matched second line segments as third line segments;
a calculation module for calculating a first distribution direction vector and a second distribution direction vector of the second line segment set;
the calculation module is further configured to respectively project all the third line segments in the directions where the first distribution direction vector and the second distribution direction vector are located, and respectively calculate the sum of the line segment projection lengths in the directions where the first distribution direction vector and the second distribution direction vector are located, so as to obtain a first observation degree and a second observation degree;
and the verification module is used for verifying the reliability of the laser positioning data based on the first observation degree and the second observation degree.
Yet another aspect of the present invention provides an electronic device, including: a processor, a communication interface, a memory, and a communication bus;
the processor, the communication interface and the memory complete mutual communication through a communication bus; a memory for storing a computer program;
and the processor is used for realizing the laser positioning data verification method when executing the program stored in the memory.
In a further aspect, the present invention provides a computer-readable storage medium, in which a computer program is stored, and the computer program is used to execute the method for verifying the laser positioning data according to the present invention.
In the method of the invention, a plurality of first line segments and a plurality of second line segments are paired, the successfully paired second line segments are determined as third line segments, the ratio of the total lengths of all the third line segments and the second line segments is calculated as a first ratio, the ratio of the number is calculated as a second ratio, then a first distribution direction vector and a second distribution direction vector of a second line segment set are calculated, then the sum of the projection lengths of all the third line segments in the direction of the first distribution direction vector and the second distribution direction vector is respectively calculated to obtain a first observation value and a second observation value, laser positioning data can be accurately verified under the condition of environmental change through the first ratio, the second ratio, the first observation value and the second observation value, the accuracy of laser verification is improved, and the first line segments and the second line segments are successfully paired or not by combining the differences of the distances among line segment characteristics, the lengths of the line segment characteristics, the normal vector positioning data of the line segment characteristics and the like, under the condition of environment change, the condition of pairing errors is greatly reduced, the first distribution direction vector and the second distribution direction vector which are calculated by a window construction method are used for further calculating a first observation value and a second observation value, the observation values in two directions are considered, the first observation value in the long corridor direction and the second observation value in the direction perpendicular to the long corridor direction are calculated in the long corridor environment, the laser positioning data are verified through the two values, and the accuracy of verifying the laser positioning data in the long corridor environment is greatly improved.
Drawings
Fig. 1 is a schematic flowchart illustrating a method for verifying laser positioning data according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating the marking of discrete points provided by an embodiment of the present invention;
FIG. 3 is a diagram illustrating matching a third line segment with a window according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a verification apparatus for laser positioning data according to an embodiment of the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to accurately verify the reliability of the laser positioning data, as shown in fig. 1, an embodiment of the present invention provides a method for verifying the laser positioning data, including:
step 101, extracting a plurality of first line segments from preset laser reference positioning data.
The existing positioning method based on laser positioning is preset with a reference positioning data for matching, generally a laser point cloud (including a point cloud map, a laser data frame set and the like) or a grid-occupied map, the existing extraction method is utilized, for example, a method for extracting line segments from the point cloud can be a method in a relatively mature PCL (point cloud library) open source library, a method for extracting line segments from the grid map can be a method for extracting straight lines by Hough (Hough) transformation in an image, a plurality of first line segments are extracted from the reference positioning data, and each line segment has coordinates, normal vectors and length data of two corresponding end points.
In step 101, after a plurality of first line segments are extracted from the reference positioning data, in an implementation manner, a plurality of discrete points are marked on a line segment corresponding to each first line segment to obtain a plurality of discrete point coordinates, a distance between a first discrete point and a first endpoint of the line segment is a first preset distance, a distance between an nth discrete point and an N-1 th discrete point is a first preset distance, and a distance between a last discrete point and a second endpoint of the line segment is smaller than the first preset distance.
Marking discrete points on each first line segment by taking a first preset distance as a length from any end point of the first line segment, marking one discrete point every length of the first preset distance until the length from one discrete point marked last to the other end point is less than the first preset distance, for example, as shown in fig. 2, the line segments in fig. 2 are first line segments, and the two end points of the first line segment are respectively PjsAnd PjeWith PjsBegins with a first preset distance L1The first line segment is marked with a first discrete point P for lengthj1Then with Pj1Begins with a first preset distance L1Marking a second discrete point P on the first line segment for lengthj2Until the last discrete point P of the markjnAnother end point P apart from the first line segmentjeLength L ofxIs less than the first preset distance L1In the above-mentioned order of magnitude,in this embodiment, the first preset distance is generally set to about 1m, in this embodiment, the discrete point obtained in this step is used in the subsequent pairing method, and if the subsequent pairing method uses another method for pairing, this step may be omitted.
Step 102, obtaining laser positioning data and extracting a plurality of second line segments from the laser positioning data, wherein the plurality of second line segments form a second line segment set.
And acquiring positioning data, extracting a plurality of second line segments from the positioning data by using the existing extraction method, and forming a second line segment set by the plurality of second line segments.
And 103, pairing the plurality of first line segments and the plurality of second line segments, and determining the successfully paired second line segments as third line segments.
The plurality of first line segments and the plurality of second line segments are paired, the successfully paired second line segments are determined to be third line segments, and any existing pairing method for the line segments and the line segments can be selected as the pairing method.
In this embodiment, the method for pairing the line segments in step 103 is to calculate the midpoint coordinates of all the second line segments, and the calculation may be performed according to the two endpoint data corresponding to the second line segments;
calculating distances according to the midpoint coordinate corresponding to each second line segment and the endpoint coordinates and the discrete point coordinates corresponding to all the previous first line segments, screening out all the discrete point coordinates of all the distances within a second preset distance, removing the duplication of all the discrete point coordinates of all the screened distances within the second preset distance, keeping the corresponding first line segments in the screened discrete points as the discrete points closest to the midpoint coordinate in a plurality of discrete points of the same first line segment, taking the distance between the discrete points and the midpoint coordinate as the distance between the first line segment corresponding to the discrete points and the midpoint coordinate, sorting the first line segments after the duplication removal according to the distance from near to far and forming a candidate line segment set, wherein in the embodiment, the second preset distance is generally set between 0.4m and 0.8 m;
sequentially pairing each second line segment with a plurality of first line segments in a candidate line segment feature set corresponding to the second line segment, calculating the absolute value of the included angle between the second line segment and the paired first line segment and the value of the length of the second line segment subtracted from the length of the paired first line segment to obtain a first angle and a first distance, if the first angle is smaller than a first preset angle and the first distance is larger than a third preset distance, the pairing is successful, in the pairing method of the embodiment, the first preset angle is generally set between 3 degrees and 10 degrees, the third preset distance is generally set between-0.2 m and-0.05 m, and whether the first line segment and the second line segment are successfully paired is judged by combining the differences of the distance between the line segment features, the length of the line segment features, the normal vector information of the line segment features and the like, so that the pairing error is greatly reduced under the condition of environmental change.
In the present embodiment, after the successfully paired second line segments are determined as the third line segments, the ratio of the sum of the lengths of all the third line segments to the sum of the lengths of all the second line segments is taken as the first ratio.
And calculating the sum of the lengths of all the third line segments and the sum of the lengths of all the second line segments, and dividing the sum of the lengths of the third line segments by the sum of the lengths of the second line segments to obtain a first proportion.
The ratio of the number of the third line segments to the number of the second line segments is taken as a second proportion.
And calculating the number of the third line segments and the number of the second line segments, and dividing the number of the third line segments by the number of the second line segments to obtain a second proportion.
Step 104, calculating a first distribution direction vector and a second distribution direction vector of the second line segment set.
Calculating a first distribution direction vector and a second distribution direction vector of the second line segment set, wherein the calculation method can be any one of the existing methods for calculating the distribution direction vectors;
in this embodiment, the manner of calculating the distribution direction vector is to calculate an included angle between a third line segment with the largest length among all the third line segments and a horizontal axis of a preset coordinate system to obtain a second angle, the preset coordinate system is a preset coordinate system with any point in the laser positioning map as an origin, and in this embodiment, coordinates of all the points are also used in this embodimentAre all arranged in the predetermined coordinate system, e.g. as shown in fig. 3, fig. 3
The third line segment with the largest length in all the third line segments,
the second angle, which is the angle with the horizontal axis of the predetermined coordinate system, is 90 degrees, so in fig. 3, it will be
Setting according to a second angle;
constructing 180-
A window, said
Is a second predetermined angle, the starting angle of the k-th window is
End angle of
For example, the windows in FIG. 3 are constructed such that x equals 1.5 and y equals 0.5, so that the first window starts at an angle of
End angle of
The starting angle of the second window is
End angle of
Said 180-
And k is a positive integer, x and y are real numbers and x minus y equals 1;
matching all the third line segments except the third line segment with the maximum length into the corresponding windows;
in this embodiment, all the third line segments except the third line segment with the largest length are matched into the corresponding windows, and in an implementation manner, included angles between all the third line segments except the third line segment with the largest length and the third line segment with the largest length are calculated to obtain a plurality of third angles;
matching all the third line segments except the third line segment with the largest length into the corresponding window according to a plurality of third angles, such as the third line segment in fig. 3
And
at an included angle of
And
to so connect the third line segment
Into the first window, third line segment
And
at an included angle of
And
to so connect the third line segment
Matching into a second window;
calculating the total length of all the corresponding third line segments in each window and screening out the window with the maximum total length, wherein the window is the third one
A window;
according to the second angle, the second preset angle and
calculating a first distribution direction vector and a second distribution direction vector, wherein the first distribution direction vector and the second distribution direction vector are perpendicular to each other;
in the present embodiment, the first distribution direction vector
Comprises the following steps:
the above-mentioned
Is a second angle;
the second distribution direction vector is perpendicular to the first distribution direction vector, so that the second distribution direction vector
Comprises the following steps:
the above-mentioned
Is at a second angle.
And 105, respectively projecting all the third line segments in the directions of the first distribution direction vector and the second distribution direction vector, and respectively calculating the line segment projection length sum in the directions of the first distribution direction vector and the second distribution direction vector to obtain a first observation degree and a second observation degree.
After the first distribution direction vector and the second distribution direction vector of the second line segment set are calculated, all the third line segments are respectively projected in the directions of the first distribution direction vector and the second distribution direction vector, the line segment projection length sum in the directions of the first distribution direction vector and the second distribution direction vector is respectively calculated, the first observation degree and the second observation degree are obtained, and the methods for projecting and calculating the line segment projection length sum can be realized by any existing method.
And 106, performing reliability verification on the laser positioning data based on the first observation degree and the second observation degree.
In step 106, the reliability of the laser positioning data is checked based on the first observation degree and the second observation degree, and in an implementation manner, if the first ratio is greater than a first preset ratio, the second ratio is greater than a second preset ratio, the first observation degree is greater than the first preset observation degree, and the second observation degree is greater than the second preset observation degree, the checking result of the laser positioning data is determined to be reliable, in this embodiment, the first preset ratio and the second preset ratio are generally set between 10% and 40%, the first preset observation degree and the second preset observation degree are generally set between 0.3m and 1m, the laser positioning data can be accurately checked even under the condition of environmental change through the first ratio, the second ratio, the first observation value and the second observation value, the accuracy of the laser positioning data is improved, and the first observation value and the second observation value consider the observation values in two directions, the first observed value along the long corridor direction and the second observed value perpendicular to the long corridor direction can be calculated in the long corridor environment, laser positioning data are verified through the two values, and the accuracy of verifying the laser positioning data in the long corridor environment is greatly improved.
In the method of the invention, a plurality of first line segments and a plurality of second line segments are paired, the successfully paired second line segments are determined as third line segments, the ratio of the total lengths of all the third line segments and the second line segments is calculated as a first ratio, the ratio of the number is calculated as a second ratio, then a first distribution direction vector and a second distribution direction vector of a second line segment set are calculated, then the sum of the projection lengths of all the third line segments in the direction of the first distribution direction vector and the second distribution direction vector is respectively calculated to obtain a first observation value and a second observation value, laser positioning data can be accurately verified under the condition of environmental change through the first ratio, the second ratio, the first observation value and the second observation value, the accuracy of laser verification is improved, and the first line segments and the second line segments are successfully paired or not by combining the differences of the distances among line segment characteristics, the lengths of the line segment characteristics, the normal vector positioning data of the line segment characteristics and the like, under the condition of environment change, the condition of pairing errors is greatly reduced, the first distribution direction vector and the second distribution direction vector which are calculated by a window construction method are used for further calculating a first observation value and a second observation value, the observation values in two directions are considered, the first observation value in the long corridor direction and the second observation value in the direction perpendicular to the long corridor direction are calculated in the long corridor environment, the laser positioning data are verified through the two values, and the accuracy of verifying the laser positioning data in the long corridor environment is greatly improved.
An embodiment of the present invention further provides a device for verifying laser positioning data, as shown in fig. 4, the device includes:
the processing module 10 is configured to extract a plurality of first line segments from preset laser reference positioning data;
the acquisition module 20 is configured to acquire laser positioning data and extract a plurality of second line segments from the laser positioning data, where the plurality of second line segments form a second line segment set;
a matching module 30, configured to pair the plurality of first line segments and the plurality of second line segments, and determine a successfully paired second line segment as a third line segment;
a calculating module 40, configured to calculate a first distribution direction vector and a second distribution direction vector of the second line segment set;
the calculating module 40 is further configured to respectively project all the third line segments in the directions where the first distribution direction vector and the second distribution direction vector are located, and respectively calculate the sum of the line segment projection lengths in the directions where the first distribution direction vector and the second distribution direction vector are located, so as to obtain a first observation degree and a second observation degree;
a verification module 50, configured to perform reliability verification on the laser positioning data based on the first observing degree and the second observing degree.
The processing module 10 is further configured to mark a plurality of discrete points on the line segment corresponding to each first line segment to obtain a plurality of discrete point coordinates, where a distance between a first discrete point and a first end point of the line segment is a first preset distance, a distance between an nth discrete point and an nth-1 discrete point is a first preset distance, and a distance between a last discrete point and a second end point of the line segment is less than the first preset distance.
The calculating module 40 is further configured to calculate midpoint coordinates of the plurality of second line segments;
the calculating module 40 is further configured to find out, according to the midpoint coordinate corresponding to each second line segment, all discrete point coordinates within a second preset distance from the midpoint coordinate, duplicate-remove all first line segments corresponding to the found discrete point coordinates, sort the first line segments from near to far according to the distances between the corresponding discrete point coordinates and the midpoint coordinate, and form a candidate line segment set;
the matching module 30 is further configured to sequentially pair each second line segment with a plurality of first line segments in the candidate line segment feature set corresponding to the second line segment, calculate an absolute value of an included angle between the second line segment and the paired first line segment, and calculate a value obtained by subtracting the length of the second line segment from the length of the paired first line segment, to obtain a first angle and a first distance, and if the first angle is smaller than a first preset angle and the first distance is greater than a third preset distance, the pairing is successful.
The calculating module 40 is further configured to use a ratio of the sum of the lengths of all the third line segments to the sum of the lengths of all the second line segments as a first ratio;
the calculating module 40 is further configured to use a ratio of the number of the third line segments to the number of the second line segments as a second ratio.
The calculating module 40 is further configured to calculate an included angle between a third line segment with the largest length among all the third line segments and a horizontal axis of a preset coordinate system, so as to obtain a second angle;
the calculating module 40 is further configured to construct 180 ^ based on the second preset angle as the window angle
A window, said
Is a second predetermined angle, the starting angle of the k-th window is
End angle of
Said 180-
And k is a positive integer, x and y are real numbers and x minus y equals 1;
the matching module 30 is further configured to match all the third line segments except the third line segment with the largest length into corresponding windows;
the calculating module 40 is further configured to calculate a total length of all third segments corresponding to each window and screen out a window with a maximum total length, where the window is the third window
A window;
the calculation module (40) is used to calculate,is also used for calculating the second angle according to the sum of the second angle and a second preset angle
And calculating a first distribution direction vector and a second distribution direction vector, wherein the first distribution direction vector and the second distribution direction vector are perpendicular to each other.
The calculating module 40 is further configured to calculate included angles between all the third line segments except the third line segment with the largest length and the third line segment with the largest length, so as to obtain a plurality of third angles;
the matching module 30 is further configured to match all the third line segments except the third line segment with the largest length into the corresponding window according to a plurality of third angles.
The verification module 50 is further configured to determine that the verification result of the laser positioning data is reliable if the first ratio is greater than a first preset ratio, the second ratio is greater than a second preset ratio, the first observation degree is greater than a first preset observation degree, and the second observation degree is greater than a second preset observation degree.
In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps in the methods according to the various embodiments of the present application described in the "exemplary methods" section of this specification, above.
The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, cause the processor to perform steps in a method according to various embodiments of the present application described in the "exemplary methods" section above of this specification.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (8)
1. A method for verifying laser positioning data is characterized by comprising the following steps:
extracting a plurality of first line segments from preset laser reference positioning data;
acquiring laser positioning data and extracting a plurality of second line segments from the laser positioning data, wherein the second line segments form a second line segment set;
pairing the plurality of first line segments and the plurality of second line segments, and determining the successfully paired second line segments as third line segments;
taking the ratio of the sum of the lengths of all the third line segments to the sum of the lengths of all the second line segments as a first proportion;
taking the ratio of the number of the third line segments to the number of the second line segments as a second proportion;
calculating a first distribution direction vector and a second distribution direction vector of the second line segment set;
respectively projecting all the third line segments in the directions of the first distribution direction vector and the second distribution direction vector, and respectively calculating the line segment projection length sum in the directions of the first distribution direction vector and the second distribution direction vector to obtain a first observation degree and a second observation degree;
and if the first proportion is greater than a first preset proportion, the second proportion is greater than a second preset proportion, the first observation degree is greater than a first preset observation degree, and the second observation degree is greater than a second preset observation degree, determining that the verification result of the laser positioning data is reliable.
2. A method for verifying laser positioning data according to claim 1, wherein after extracting a plurality of first line segments from preset laser reference positioning data, the method further comprises:
marking a plurality of discrete points on the line segment corresponding to each first line segment to obtain a plurality of discrete point coordinates, wherein the distance between the first discrete point and the first end point of the line segment is a first preset distance, the distance between the Nth discrete point and the (N-1) th discrete point is a first preset distance, and the distance between the last discrete point and the second end point of the line segment is less than the first preset distance.
3. A method of verification of laser positioning data as claimed in claim 2, wherein said pairing of a first plurality of line segments and a second plurality of line segments comprises:
calculating midpoint coordinates of the plurality of second line segments;
finding out all discrete point coordinates within a second preset distance from the midpoint coordinate according to the midpoint coordinate corresponding to each second line segment, removing duplication of the first line segments corresponding to all the found discrete point coordinates, and sorting the first line segments from near to far according to the distance between the corresponding discrete point coordinates and the midpoint coordinate to form a candidate line segment set;
and sequentially pairing each second line segment with a plurality of first line segments in the candidate line segment feature set corresponding to the second line segment, calculating the absolute value of the included angle between the second line segment and the paired first line segment and the value obtained by subtracting the length of the second line segment from the length of the paired first line segment to obtain a first angle and a first distance, and if the first angle is smaller than a first preset angle and the first distance is larger than a third preset distance, successfully pairing.
4. A method of verification of laser positioning data according to claim 1, wherein said calculating a first distribution direction vector and a second distribution direction vector of a second set of segments comprises:
calculating the included angle between the third line segment with the largest length in all the third line segments and the transverse axis of the preset coordinate system to obtain a second angle;
constructing 180-
A window, said
Is a second predetermined angle, the starting angle of the k-th window is
End angle of
Said 180-
And k is a positive integer, x and y are real numbers and x minus y equals 1;
matching all the third line segments except the third line segment with the maximum length into corresponding windows;
calculating the total length of all the corresponding third line segments in each window and screening out the window with the maximum total length, wherein the window is the third one
A window;
according to the second angle, the second preset angle and
and calculating a first distribution direction vector and a second distribution direction vector, wherein the first distribution direction vector and the second distribution direction vector are perpendicular to each other.
5. A verification method of laser positioning data according to claim 4, wherein said matching all third line segments except the third line segment with the maximum length into corresponding windows comprises:
calculating included angles between all the third line segments except the third line segment with the maximum length and the third line segment with the maximum length to obtain a plurality of third angles;
matching all the third line segments except the third line segment with the maximum length into the corresponding windows according to a plurality of third angles.
6. A verifying attachment of laser positioning data, its characterized in that includes:
the processing module is used for extracting a plurality of first line segments from preset laser reference positioning data;
the acquisition module is used for acquiring laser positioning data and extracting a plurality of second line segments from the laser positioning data, and the second line segments form a second line segment set;
the matching module is used for matching the plurality of first line segments and the plurality of second line segments and determining the successfully matched second line segments as third line segments;
taking the ratio of the sum of the lengths of all the third line segments to the sum of the lengths of all the second line segments as a first proportion;
taking the ratio of the number of the third line segments to the number of the second line segments as a second proportion;
a calculation module for calculating a first distribution direction vector and a second distribution direction vector of the second line segment set;
the calculation module is further configured to respectively project all the third line segments in the directions where the first distribution direction vector and the second distribution direction vector are located, and respectively calculate the sum of the line segment projection lengths in the directions where the first distribution direction vector and the second distribution direction vector are located, so as to obtain a first observation degree and a second observation degree;
and the verification module is used for determining that the verification result of the laser positioning data is reliable if the first proportion is greater than a first preset proportion, the second proportion is greater than a second preset proportion, the first observation degree is greater than a first preset observation degree, and the second observation degree is greater than a second preset observation degree.
7. An electronic device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing mutual communication by the memory through the communication bus; a memory for storing a computer program; a processor for implementing the method steps of any one of claims 1 to 5 when executing a program stored in the memory.
8. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of claims 1-5.
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